Quadrotor

#include "ros/ros.h"

#include "mikrokopter/Control.h"

class MikrokopterControl {

public:

    MikrokopterControl();

    void velocity_control(float forward_speed, float lateral_speed);

    void forward();

    void backward();

    void left();

    void right();

    void level();

    void set_thrust(float thrust);

    void set_yaw(float yaw);

    void publish_on(ros::Publisher& pub);

    void main_loop();

private:

    mikrokopter::Control control;

    ros::NodeHandle nh;

};